1292516 八、 本案若有化學式時’請揭示最能顯示發明特徵的化學 式： 無 九、 發明說明： 【發明所屬之技術領域】 之列印頭與 本案係為一種驅動控制裝置’尤指應用於一列印裝置 驅動傳動裝置上之驅動控制裝置。 【先前技術】 請參見第-圖’其係-常見健印表機之内部構造示意圖盆中; 由馬達12帶動齒輪13、皮帶14之移動，使得喷墨頭ω之承載座、] 鲁 可沿-滑動桿19來進行直線往復運動，用以讓喷墨頭ι〇可以前往預, 位置進行列印任務。而為能讓控制單元(本圖未示出）知道喷墨頭^ 確實位置，亦承載於承載座u上之—光學編碼器^則根據光學尺】 上之刻度來產生位置反饋信號與速度反饋信號給控制單元來進行喷； 頭10移動之控制。、' 騎參見第二圖，其係上射騎表機之習驗制單元之内部咖 方t意圖，其巾叫積分-微分控_ _⑽t, 21係根據s =弋早Plannmg unit)2。輸出之位置命令值與速度命令值來无 〃運异而產生-控·號(通常是—脈波寬度調變信號)輸出至驅刻 1292516 置22(通常包含有上述馬達π)，進而控制驅動裝置22來帶動上述齒輪 13、皮帶14以及喷墨頭1〇等所構成之機械設備(plant)23。而利用上述 光學編碼器15及光學尺16構成之反饋單元24所產生之位置反饋信號 與速度反饋信號被反饋至比例-積分_微分控制器（piD c〇ntr〇ller) 21之 輸入端，來與位置命令值與速度命令值進行相減後得到位置誤差信號與 速度誤差信號後輸入至比例-積分-微分控制器（PID c〇ntr〇Uer) 21，讓比 例-積分-微分控制器（I>ID controller) 21根據位置誤差信號與速度誤差 4吕號之大小來產生該控制信號來控制驅動裝置22之驅動力。 但上述制祕手财，主妓將誤差㈣輸域終積分廣分控 制器(PIDCOntr〇ller)21來進行運算，因此誤差值要夠大才能產生夠大的 電壓訊號來驅_祕置22，所以制技術手段會有響應速度慢及速 度控制誤差大的缺點。因此，如何改善上述裝置結構所提及的缺失，係 為發展本案最主要之目的。 【發明内容】 本案係為-種驅動控制裝置，應用於一列印裝置上之一列印頭與一 驅動傳動裝置，該骑控織置包含：—路徑計畫單元，其可輸出二位 置命令值與-速度命令值；-反饋單元，信號連接至該列印頭，其係因 應該列印頭之位置與速度而產生—位置反饋信號與—速度反饋信號；一 比例-積分㈣H，信賊接至該路徑計畫單元、該反鮮元與該驅動 =動裝置’其係因應該位置命令值與該位置反饋信號之差值以及該速度 1令值與料度反齡紅錄而赵—第—㈣錢錢至該驅動 傳動裝置α及-前饋控繼，錢連接至鱗徑計晝單元與該驅動傳動 6 I2925l6 裝置’其係接收該速度命令值進行運算而產生一第二控制信號而送至該驅動 傳動裝置’進而讓該驅動傳動裝置可同時因應該第一控制信號與該第二控制 ^號來帶動該列印頭進行移動。 根據上述構想，本案所述之驅動控制裝置，其中該反饋單元係信號 連接至該列印頭中之一光學編碼器與一光學尺，該光學編碼器與該光學 尺係可反應出該列印頭之位置與速度。 根據上述構想，本案所述之驅動控制裝置，其中該比例_積分控制 | 斋所產生之該第一控制信號為kp*(速度命令值-速度反饋信號)+ki*(位 置命令值-位置反饋信號），其中kp及ki則為比例_積分控制器的增益值。 根據上述構想，本案所述之驅動控制裝置，其中該前饋控制器所產 生之該第二控制信號為cl*速度命令值+C2，其中cl及c2為常數並可 對該驅動傳動裝置進行系統鑑別而決定出來。 根據上述構想’本案所述之驅動控制裝置，其中該驅動傳動裝置包 含一直流馬達以及一傳動機構。 根據上述構想’本案所述之驅動控制裝置，其中該傳動機構包含有 一齒輪組與一傳動皮帶。 根據上述構想’本案所述之驅動控制裝置，其中該列印頭係為一喷 墨頭。 【實施方式】 清蒼見第二圖’其係本案發展出來可改善習用手段缺失且可應用於 喷墨印表機或噴墨多功能事務機之喷墨頭驅動控制裝置之較佳實施例 功此方塊不思圖’其中主要包含有—路㈣畫單元3()、_反饋單元3卜 7 1292516 比例-積分控制is 32以及-前饋控制器33，其中路徑計畫單元於 '習用手段觀，其偏以輪出—位置命令P與—速度命令，而反 鮮元31主妓因朗印則9實際之位置與速度而產生—位置反饋信 號pf與-速度反饋信號Vf，而比例積分控制器32係因應該位置 ， 值p與該位置反饋信號Pf之差值Pd以及該速度命令值v與該速度反 饋仏虎Vf之差值Vd而產生一第一控制信號S1。而前轉控制器則直 接接收該速度命令值V進行運算而產生-第二控制信號S2。而第-控 紅號S1與第二控制信號S2 一起送至該驅動傳動裝4 38，進而讓該 驅動傳動裝置38可同時因應該第一控制信號S1與第二控制信號幻來 帶動該列印頭進行移動。 而上述前饋控制器33輸出的第二控制信號S2=cl*速度命令值 V+c2,其中Cnc2為常數，可經由對系統驅動傳動裴置“之系統鑑 別(System—Identification)來獲得，至於比例·積分控制器32輸出的第一 控制信號Sl=kp*(速度命令值v_速度反饋信號Vf)+ki*(位置命令值卜 位置反饋信號Pf) =kp*Vd +ki*Pd，其申切及上則為比例-積分控制器 32的增益值。 而上述驅動傳動裝置38包含一馬達驅動積體電路38〇、一直流馬 達381以及一傳動機構382，而該傳動機構382包含有一齒輪組382〇 與一傳動皮帶3821，其中馬達驅動積體電路38〇係接收並因應該第一 控制信號si與第二控制信#uS2之變化而相對應產生驅動直流馬達381 所需之驅動電壓信號(通常為一脈波寬度調變電壓信號），而傳動皮帶 3821用以帶動該列印頭沾進行移動，而該列印頭39係可為一喷墨印 表機中之喷墨頭。 綜上所述，本案所增設，經由系統鑑別（System Identifkati〇n)而決 1292516 定出來的前饋控繼33’因為直接因應路徑計晝單幻Q輸出之速度命 令值v來產生㈣龍，因此可以接補償直流馬達381在定速之下 所需的反魏勢電壓及克《輪組侧麟較帶則之動摩捧力時 所需的電壓，所以經由反饋信號而產生的位置誤差及速度誤差就可以有 效的減少’因此比例-積分控制器32的增益值咕及㈣不需要設計的 很大，進而增加Μ的敎度鱗小定速控獅速度誤差。如此便可以 加快系制反應速度，同時又可办純的敎度，並且核的縮小嘴 墨頭在定速控制下的速度誤差。 ' 當然，本案也可轉用至具有類似本案之列印裝置上，例如多功能事務 機、傳真㈣之上，同樣可達成相_效之增進。因此，本案發明得由 熟習此技蟄之人士任紐思而為諸般修飾，然皆不脫如附申請專利範圍 所欲保護者。’ 【圖式簡單說明】 本案付错由下列圖式及說明’俾得_更深入之了解· 第一圖，其係一常見喷墨印表機之内部構造示意圖。 第二圖，其係喷墨印表機之習用控制單元之内部功能方塊示意圖。 第二圖’其係本案發展出來可改善習用手段缺失之噴墨頭驅動控制裝置 較佳實施例功能方塊示意圖。 1292516 【主要元件符號說明】 喷墨頭10 承載座11 馬達12 帶動齒輪13 皮帶14 光學編碼器15 光學尺16 滑動桿19 路徑計畫單元20 比例-積分-微分控制器21 驅動裝置22 機械設備23 反饋單元24 路徑計畫單元30 反饋單元31 比例-積分控制器32 前饋控制器33 驅動傳動裝置38 馬達驅動積體電路380 直流馬達381 傳動機構382 齒輪組3820 傳動皮帶3821 列印頭39 十、申請專利範圍： 1.一種驅動控制裝置，應用於一列印裝置上之一列印頭與一驅動傳動裝 置，該驅動控制裝置包含： 一路徑計晝單元，其可輸出一位置命令值與一速度命令值； 一反饋單元，信號連接至該。列印頭，其係因應該列印頭之位置與速 度而產生一位置反饋信號與一速度反饋信號； 一比例-積分控制器，信號連接至該路徑計畫單元、該反饋單元與 該驅動傳動裝置，其係因應該位置命令值與該位置反饋信號之差值以及 101292516 VIII. If there is a chemical formula in this case, please disclose the chemical formula that best shows the characteristics of the invention: No. 9. Description of the invention: [Technical field of invention] The print head and the case are a kind of drive control device, especially for one column. The printing device drives the drive control device on the transmission. [Prior Art] Please refer to the figure - Figure 'The internal structure of the common fingerprint printer is in the basin; the movement of the gear 13 and the belt 14 is driven by the motor 12, so that the carrier of the inkjet head ω,] Lu Ke - Slider 19 for linear reciprocation to allow the inkjet head to travel to the pre-position for printing tasks. In order to let the control unit (not shown in this figure) know the exact position of the inkjet head, it is also carried on the carrier u. The optical encoder ^ generates the position feedback signal and the speed feedback according to the scale on the optical scale. The signal is sent to the control unit for spraying; the movement of the head 10 is controlled. , 'see the second picture, which is the internal coffee t-intention of the shooting unit of the shooting machine. The towel is called integral-differential control _ _ (10)t, 21 is based on s = P early Plannmg unit). The output position command value and the speed command value are generated without any difference in operation - the control number (usually - pulse width modulation signal) is output to the drive 1292516, which is 22 (usually including the above motor π), thereby controlling the drive The device 22 drives the mechanical device 23 constituted by the gear 13, the belt 14, and the ink jet head 1 and the like. The position feedback signal and the speed feedback signal generated by the feedback unit 24 composed of the optical encoder 15 and the optical scale 16 are fed back to the input end of the proportional-integral_derivative controller (piD c〇ntr〇ller) 21 After subtracting the position command value from the speed command value, the position error signal and the speed error signal are obtained, and then input to the proportional-integral-derivative controller (PID c〇ntr〇Uer) 21, and the proportional-integral-derivative controller (I>) The ID controller 21 generates the control signal to control the driving force of the driving device 22 according to the magnitude of the position error signal and the speed error. However, the above-mentioned system secret hand money, the main error will be the error (4) the final domain integral score controller (PIDCOntr〇ller) 21 to calculate, so the error value should be large enough to generate a large enough voltage signal to drive the secret 22, Therefore, the technical means have the disadvantages of slow response speed and large speed control error. Therefore, how to improve the lack of the above mentioned device structure is the most important purpose of the development of this case. SUMMARY OF THE INVENTION The present invention is a driving control device applied to a printing head and a driving transmission device on a printing device, the riding control weaving device comprises: a path planning unit, which can output a two-position command value and - speed command value; - feedback unit, the signal is connected to the print head, which is generated due to the position and speed of the print head - position feedback signal and - speed feedback signal; a proportional - integral (four) H, the letter thief is connected to The path planning unit, the anti-fresh element and the driving device: the difference between the position command value and the position feedback signal, and the speed 1 command value and the materiality of the age-reversed red record Zhao-- (4) money to the drive transmission α and the feedforward control, the money is connected to the scale gauge unit and the drive transmission 6 I2925l6 device 'the system receives the speed command value to calculate and generate a second control signal to send The drive transmission 'and the drive transmission can simultaneously drive the print head to move according to the first control signal and the second control number. According to the above concept, the driving control device of the present invention, wherein the feedback unit is connected to one of the print heads and an optical scale, and the optical encoder and the optical ruler can reflect the print The position and speed of the head. According to the above concept, the driving control device of the present invention, wherein the first control signal generated by the proportional_integral control | is kp* (speed command value-speed feedback signal) + ki* (position command value - position feedback) Signal), where kp and ki are the gain values of the proportional_integral controller. According to the above concept, the drive control device of the present invention, wherein the second control signal generated by the feedforward controller is a cl* speed command value + C2, wherein cl and c2 are constant and the drive transmission system is Determined by identification. According to the above concept, the drive control device of the present invention, wherein the drive transmission includes a DC motor and a transmission mechanism. According to the above concept, the drive control device of the present invention, wherein the transmission mechanism includes a gear set and a drive belt. According to the above concept, the drive control device of the present invention, wherein the print head is an ink jet head. [Embodiment] Qing Cong see the second figure, which is a preferred embodiment of the ink jet head drive control device which can be used to improve the conventional means and can be applied to an ink jet printer or an ink jet multifunction printer. This block does not reflect 'which mainly contains - road (four) drawing unit 3 (), _ feedback unit 3 Bu 7 1292516 proportional-integral control is 32 and - feedforward controller 33, where the path planning unit is in the 'family view It is biased by the wheel-position command P and the speed command, while the main element of the anti-fresh element 31 is generated by the actual position and speed of the stamping position - the position feedback signal pf and the speed feedback signal Vf, and the proportional integral control The device 32 generates a first control signal S1 according to the position, the difference Pd between the value p and the position feedback signal Pf, and the difference Vd between the speed command value v and the speed feedback VV Vf. The forward controller directly receives the speed command value V and operates to generate a second control signal S2. The first control red number S1 is sent to the driving transmission device 4 38 together with the second control signal S2, so that the driving transmission device 38 can simultaneously drive the printing according to the first control signal S1 and the second control signal. The head moves. The second control signal S2=cl* speed command value V+c2 output by the feedforward controller 33, wherein Cnc2 is a constant, can be obtained by system identification of the system drive transmission, as for The first control signal S1=kp* (speed command value v_speed feedback signal Vf)+ki* (position command value position feedback signal Pf) output by the proportional-integral controller 32=kp*Vd +ki*Pd, The above-mentioned drive transmission 38 includes a motor-driven integrated circuit 38A, a DC motor 381, and a transmission mechanism 382, and the transmission mechanism 382 includes a gear. The set 382A and a drive belt 3821, wherein the motor drive integrated circuit 38 receives and correspondingly generates a drive voltage signal required to drive the DC motor 381 according to the change of the first control signal si and the second control signal #uS2. (usually a pulse width modulation voltage signal), and the drive belt 3821 is used to drive the print head to move, and the print head 39 can be an ink jet head in an ink jet printer. As mentioned above, the case has been added The system identification (System Identifkati〇n) and the feedforward control determined by 1292516 is followed by 33' because the speed command value v of the single magic Q output is directly generated according to the path, so that the DC motor 381 can be compensated at the fixed speed. The required anti-Wei potential voltage and the voltage required for the movement of the side of the wheel are better, so the position error and velocity error generated by the feedback signal can be effectively reduced. - The gain value of the integral controller 32 ( and (4) do not need to be designed very large, thereby increasing the 敎 敎 鳞 鳞 小 定 定 控 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 And the speed of the core is reduced under the fixed speed control. 'Of course, the case can also be transferred to a printing device similar to the case, such as multi-function machine, fax (four), can also achieve Therefore, the invention of this case has been modified by Ren Xisi, who is familiar with this technology, but it is not subject to the protection of the scope of the patent application. ' [Simple description of the schema] The following figures and descriptions are more detailed. The first figure is a schematic diagram of the internal structure of a common inkjet printer. The second figure is the internal control unit of the inkjet printer. Functional Block Diagram. The second diagram is a functional block diagram of a preferred embodiment of an ink jet head drive control device that has been developed to improve the conventional means. 1292516 [Explanation of main component symbols] Inkjet head 10 carrier 11 motor 12 Gear 13 Belt 14 Optical encoder 15 Optical ruler 16 Slider 19 Path planning unit 20 Proportional-integral-derivative controller 21 Drive 22 Mechanical equipment 23 Feedback unit 24 Path planning unit 30 Feedback unit 31 Proportional-integral controller 32 Feedforward controller 33 Drive transmission 38 Motor drive integrated circuit 380 DC motor 381 Transmission mechanism 382 Gear set 3820 Drive belt 3821 Print head 39 X. Patent application scope: 1. A drive control device applied to a printing device a print head and a drive transmission, the drive control device comprising: a path meter unit capable of outputting a position The command value and a speed command value; a feedback unit to which the signal is connected. a print head which generates a position feedback signal and a speed feedback signal due to the position and speed of the print head; a proportional-integral controller, the signal is connected to the path planning unit, the feedback unit and the drive transmission Device, which is due to the difference between the position command value and the position feedback signal and 10